Go Down

### Topic: Confirm Rotary Encoder Equations (Read 1 time)previous topic - next topic

#### budder8818

##### Oct 10, 2011, 11:37 pm
Can someone confirm to me that these equations are correct, for a differential drive movement where two encoders are recording ticks.

distanceMoved = pi * Radius of Wheel * (Right_Click + Left_Click) / resolution of encoder.

Thanks

#### Grumpy_Mike

#1
##### Oct 11, 2011, 12:16 am
Well I would say it was:-
distance moved = pi*Dia * (number of pulses / number of pulses per revolution )

I suppose that is what you said.

#### robtillaart

#2
##### Oct 11, 2011, 09:29 pm
Quote
for a differential drive movement where two encoders are recording ticks.

As it is for a differential drive you should take the average of the two counters.

distance  = PI * Diameter * (#pulses LEFT + #pulses RIGHT) / ( 2 * number of pulses per revolution ) ;

distance  = PI * Radius * (#pulses LEFT + #pulses RIGHT) / ( number of pulses per revolution ) ;

Assumption: the wheels are equal in size

Rob Tillaart

Nederlandse sectie - http://arduino.cc/forum/index.php/board,77.0.html -
(Please do not PM for private consultancy)

Go Up

Please enter a valid email to subscribe